中文摘要：

超精密磁悬浮运动控制中，电磁铁铁心及衔铁导轨中存在的磁滞特性是导致电磁力难以实现精确控制的重要原因之一．研究磁滞特性对电磁力的非线性影响规律并建立其非线性模型具有重要意义．通过研究磁悬浮精密运动中电磁铁磁滞特性对气隙处磁感应强度的影响，分析了带气隙磁路磁滞特性建模原理，建立了包含Jiles—Atherton模型的电磁铁磁浮力非线性模型，并采用粒子群优化算法对该模型参数进行实验验证．结果表明，磁悬浮精密运动中电磁铁磁滞特性不容忽视，采用经参数辨识得到的新模型比采用传统模型计算得到的气隙磁感应强度值更精确、更接近实测值．研究结果为提高磁悬浮精密运动中电磁力的精确控制提供了重要参考价值．

英文摘要：

During the controlling of the ultra-precision maglev movement, the hysteresis existed in the iron core and the armature guide is an important reason of making it hard to control precisely. It is significant to study the law of the hysteresis characteristics＇ nonlinear influence on the elec-tromagnetic force and build its nonlinear model. Through studying the hysteresis characteristics＇ influence on the air-gap magnetic flux density in the rnaglev precision movement and analyzing the hysteresis modeling theory of the magnetic circuit with an air gap, the nonlinear electromagnetic force model including the Jiles-Atherton modelwas established and then its parameters were test- ed by the particle swarm optimization. Results show that the electromagnet hysteresis in the ma- glev precision movement should not be neglected. The air-gap magnetic flux density calculated by the identified new model is more precise and closer to the measured value than that calculated by the traditional model. These results provide an important reference for improving control preci- sion of the maglev precision movement.